#include "usr_inc.h"

/**
 * @brief 将雷达原始数据变换到底盘中心
 */
void RADAR_ConvertToCenter(LocaterMsg_t *radarMsg)
{
    radarMsg->posX = radarMsg->posX + 0.256 - 0.256 * cosf(radarMsg->posYaw);
    radarMsg->posY = radarMsg->posY - 0.256 * sinf(radarMsg->posYaw);
}
